KR101782362B1 - Vehicle, and control method for the same - Google Patents

Abstract

The present invention provides a vehicle and a method of controlling the same by comparing measurement lane information measured through peripheral information with reference lane information corresponding to a type of a road in operation.
A vehicle according to an embodiment includes: a storage unit for storing a map including a road type; A peripheral information acquiring unit acquiring peripheral information; And a controller for comparing the reference lane information corresponding to the type of the running road identified through the map with the measured lane information measured through the peripheral information to determine a driving lane; . ≪ / RTI >

Description

VEHICLE, AND CONTROL METHOD FOR THE SAME

The present invention relates to a vehicle for determining a driving lane and a control method thereof.

A vehicle is a type of vehicle that travels along roads or tracks while moving people, objects, or animals from one location to another. Examples of the vehicle include a two-wheeled vehicle such as a three-wheeled or four-wheeled vehicle, a motorcycle, a construction machine, a bike for a prime mover, a train traveling on a bicycle and a track.

The automotive industry is increasingly interested in the Advanced Driver Assistance System (ADAS), which offers more convenience and safety to drivers.

Particularly, researches are actively conducted on devices and methods for predicting the road environment using the precision map and providing appropriate control and convenience services corresponding to the predicted road environment. For example, the vehicle can use the precision map to check the information of the road on which it is currently traveling, and to provide an optimal route to the destination based on the information, or to perform corresponding control.

According to an embodiment of the present invention, there is provided a vehicle and a control method thereof for determining a driving lane by comparing measurement lane information measured through peripheral information with reference lane information corresponding to a type of road during running.

A vehicle according to an embodiment includes: a storage unit for storing a map including a road type; A peripheral information acquiring unit acquiring peripheral information; And a controller for comparing the reference lane information corresponding to the type of the running road identified through the map with the measured lane information measured through the peripheral information to determine a driving lane; . ≪ / RTI >

In addition, the control unit can confirm the type of the traveling road that is determined according to at least one of usage, form, and scale.

In addition, the type of the traveling road may be classified into a non-highway, an ordinary road in a highway, a bridge in an expressway, an overpass in an expressway, a tunnel in an expressway, an underground road in a highway, And a confluence point area within a predetermined distance from the confluence point.

The peripheral information obtaining unit may further include: a camera for obtaining an image of the vehicle ahead; . ≪ / RTI >

The peripheral information obtaining unit may further include: a radar for detecting an object located on the side of the vehicle; . ≪ / RTI >

The control unit may compare the reference lane information with the measurement lane information to obtain the probability of the lane on each lane constituting the road.

In addition, the control unit may refer to the accuracy of each lane of the measurement lane information to obtain the probability of the lane on each lane.

The control unit may obtain the measurement lane information including at least one of the type of the lane on the road, the color, the distance from the side object, and the shape of the side object from the peripheral information.

The control unit may determine the driving lane by comparing the reference lane information including at least one of the highest lane information and the lowest lane information corresponding to the type of the running road with the measurement lane information measured through the peripheral information .

In addition, the control unit can determine the driving lane at predetermined intervals.

The control unit may determine whether to change the vehicle based on the running information of the vehicle during one period from the first time point by comparing the reference lane information with the measured lane information at a first time point, And determine a second driving lane based on whether the vehicle is changed to the determined lane at a second time point after the one cycle from the first time point.

A display for indicating the determined driving lane; As shown in FIG.

According to an embodiment of the present invention, there is provided a method of controlling a vehicle, including: checking a type of a road during driving; Obtaining reference lane information corresponding to the identified road type; Acquiring peripheral information; Obtaining measurement lane information measured through the peripheral information; And comparing the reference lane information and the measurement lane information to determine a driving lane; . ≪ / RTI >

Also, the step of confirming the type of the road during the running can confirm the type of the road determined according to at least one of the usage, the form, and the scale.

The step of confirming the type of the road in the course of running may include the step of confirming the type of the road from a non-highway, an ordinary road among freeways, a bridge among freeways, an overpass among highways, a tunnel in an expressway, an underground road in a freeway, A bifurcation area within the distance, and a confluence area within a predetermined distance from the confluence point of the expressway.

The acquiring of the peripheral information may further include: acquiring an image of the vehicle ahead; . ≪ / RTI >

The acquiring of the peripheral information may include sensing an object located on the side of the vehicle; . ≪ / RTI >

The step of determining the driving lane may further include comparing the reference lane information and the measurement lane information to obtain a probability of the lane of each lane constituting the road.

Also, the step of determining the driving lane may refer to the accuracy of each lane of the measurement lane information to obtain the probability of the lane on each lane.

The obtaining of the measurement lane information may further include obtaining the measurement lane information including at least one of the type, color, distance to the side object, and shape of the side object on the road from the peripheral information have.

The step of acquiring the reference lane information may acquire the reference lane information including at least one of the highest lane information and the lowest lane information corresponding to the type of the road.

In addition, the step of determining the driving lane may determine the first driving lane by comparing the reference lane information and the measurement lane information at a first point of time.

Determining whether to change the vehicle based on the running information of the vehicle for a predetermined period from the first time; And determining a second driving lane based on whether the vehicle is changed to the determined lane at a second time point after the first time point from the first time point; As shown in FIG.

Displaying the determined driving lane; As shown in FIG.

According to an embodiment of the disclosed vehicle and the control method thereof, a driving lane can be determined using only lane information corresponding to the type of a road being driven, so that the storage space can be efficiently managed.

Further, according to another embodiment of the disclosed vehicle and its control method, it is possible to predict a traveling route at a bifurcation point and an intersection in real time.

1 is a view showing the appearance of a vehicle according to an embodiment.
2 is a view showing an internal configuration of a vehicle according to an embodiment.
3 is a control block diagram of a vehicle according to an embodiment.
4 is a diagram illustrating a configuration of basic lane information according to an exemplary embodiment.
5 is a diagram for explaining a process of determining a driving lane by the controller according to an embodiment.
6A and 6B show a display method of a display according to various embodiments.
7 is a flowchart of a vehicle control method according to an embodiment.
8 is a flowchart of a vehicle control method according to another embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a vehicle and a control method thereof will be described in detail with reference to the accompanying drawings.

1 is a view showing the appearance of a vehicle according to an embodiment.

1, an embodiment of a vehicle includes a body 10 forming an outer appearance of the vehicle 100, wheels 21 and 22 for moving the vehicle 100, doors for shielding the inside of the vehicle 100 from the outside, A front glass 17 that provides the driver 100 with a field of view ahead of the vehicle 100 and a side mirror 18 and 19 that provides the driver with a field of view behind the vehicle 100 .

The wheels 21 and 22 include a front wheel 21 provided at the front of the vehicle and a rear wheel 22 provided at the rear of the vehicle and the front wheel 21 or the rear wheel 22 is provided with a rotational force And can move the main body 10 forward or backward.

The door 14 is rotatably provided on the left and right sides of the main body 10 so that the driver can ride inside the vehicle 100 at the time of opening and shields the inside of the vehicle 100 from the outside at the time of closing .

The front glass 17 is provided on the front upper side of the main body 10 so that a driver inside the vehicle 100 can obtain time information in front of the vehicle 100. The windshield glass is also called a windshield glass.

The side mirrors 18 and 19 include a left side mirror 18 provided on the left side of the main body 10 and a right side mirror 19 provided on the right side. 100) side information and the rear-side time information.

2 is a view showing an internal configuration of a vehicle according to an embodiment.

2, the vehicle 100 includes a seat 110 on which a driver or the like is mounted, a dashboard 150 (see FIG. 2) provided with a gear box 120, a center pedestal 130, and a steering wheel 140 dashboard).

The gear box 120 may be provided with a shift lever 124 for shifting the vehicle 100 and a dial operating section 122 for controlling the performance of the vehicle 100. [

The steering wheel 140 provided on the dashboard 150 is a device for adjusting the running direction of the vehicle 100. The steering wheel 140 is connected to the rim 141 gripped by the driver and the steering device of the vehicle 100, And a spoke 142 connecting the hub of the rotary shaft for steering. According to the embodiment, the spokes 142 may be provided with operating devices 142a and 142b for controlling various devices in the vehicle 100, for example, an audio device and the like.

An air conditioner 131, a clock 132, an audio device 133, a display 134, and the like may be installed in the center fascia 130 provided on the dashboard 150.

The air conditioner 131 adjusts the temperature, humidity, air cleanliness, and air flow inside the vehicle 100 to comfortably maintain the interior of the vehicle 100. The air conditioner 131 may include at least one discharge port 131a provided in the center fascia 130 and discharging air. The center fascia 130 may be provided with buttons or dials for controlling the air conditioner 131 and the like. A passenger such as a driver can control the air conditioner 131 by using a button disposed on the center pacea 130. [

The clock 132 may be provided around a button or a dial for controlling the air conditioner 131. [

The audio device 133 may include an operation panel having a plurality of buttons for performing functions of the audio device 133. The audio device 133 may provide a radio mode for providing a radio function and a media mode for reproducing an audio file of various storage media containing the audio file.

The display 134 may display a UI (User Interface) that provides the driver with information related to the vehicle 100 in the form of images or text. For this, the display 134 may be embedded in the center fascia 130. However, the display 134 is not limited thereto, and the display 134 may be detachable from the center fascia 130 of the vehicle 100.

At this time, the display 134 may be implemented as a liquid crystal display (LCD), a light emitting diode (LED), a plasma display panel (PDP), an organic light emitting diode (OLED), or a cathode ray tube (CRT) But is not limited thereto.

The dashboard 150 may further include various instrument panels capable of displaying the traveling speed of the vehicle 100, the engine speed or the remaining amount of fuel, and a globe box capable of storing various items have.

On the other hand, the vehicle can provide information related to driving to the driver using a map stored in advance. For example, the vehicle can identify the current location through a map and provide a route from the identified location to the destination. Further, depending on the current position on the map, the vehicle may automatically control the vehicle speed or automatically control the headlamp.

In order to provide the above-described functions in real time, the vehicle needs to predict a traveling path. Particularly, when there is a branch point or an intersection ahead of the traveling direction, the vehicle must select one of a plurality of roads extending from a branch point or an intersection. At this time, if it is not predicted in advance which road the car will select, the vehicle may be difficult to provide the function corresponding to the current position in real time.

Therefore, the vehicle can predict the traveling path of the vehicle in various ways. As an example, the vehicle can perform the prediction by determining the driving lane. The driver can select a specific lane to proceed to any one of the roads extending from the branch point or the intersection, so that the vehicle can determine the driving lane in advance and predict the traveling route based on the determined lane.

Hereinafter, the vehicle for determining the driving lane will be described in detail.

FIG. 3 is a control block diagram of a vehicle according to an embodiment, and FIG. 4 is a diagram illustrating a configuration of basic lane information according to an embodiment.

Referring to FIG. 3, a vehicle according to an embodiment includes a GPS antenna 135 that receives a satellite signal including position information of a vehicle; A peripheral information obtaining unit (200) for obtaining peripheral information; A sensor unit 400 for obtaining running information of the vehicle; A display 134 for displaying information related to driving; A control unit 300 for controlling each configuration of the vehicle; And a storage unit (500) in which information necessary for each configuration of the vehicle to operate is stored in advance; . ≪ / RTI >

The storage unit 500 may store information necessary for the operation of the vehicle in advance and provide the information when necessary. For example, the storage unit 500 may store algorithms or parameters used by the controller 300 to control a vehicle, which will be described later, and provide the algorithm or parameters when the controller 300 requests the controller.

Also, the storage unit 500 may store a map to be provided to the control unit 300, which will be described later, in advance. Specifically, the storage unit 500 may previously store at least one of the general map and the precise map including the type of each road and the number of lanes. Here, the precision map has high accuracy for safe and precise vehicle control and includes not only the plane position of the road but also information about the altitude, slope, curvature, lane number, etc., It may mean a map that contains more information. However, the map stored in the storage unit 500 may not include lane information of each road.

Also, the storage unit 500 may store basic lane information to be provided to the controller 300, which will be described later, in advance. Here, the basic lane information may mean lane information determined according to the type of road. In addition, the types of roads can be classified according to at least one of the use, form, and scale of the road, and classification according to the laws and regulations of each country may be adopted.

Referring to FIG. 4, the storage unit 500 may store basic lane information in a form of a tree structure classified according to types of roads. In FIG. 4, the types of roads are classified according to two criteria, and basic lane information including lane information corresponding to each of the classified roads is illustrated.

For example, roads can be classified first according to their use. Specifically, roads can be classified into highways dedicated to automobiles and non-highways connecting major cities depending on their use. At this time, non-expressways may be subdivided into general national roads, local roads, etc. depending on the use. This is a name according to the use specified in the laws and regulations of the Republic of Korea.

If the roads are classified as highways and non-highways depending on the application, the highways can be classified according to the type. For example, the highway can be classified into a bridge, a highway, a tunnel, an underground roadway, a bifurcation area within a predetermined distance from the bifurcation, a confluence area within a predetermined distance from the confluence point, and other general roads.

The above-described examples are merely examples for classifying roads according to a predetermined standard, and thus it is possible to classify roads according to various criteria.

After such classification, the reference lane information can be stored for each road type. The reference lane information relates to the property of the lane, and may include the type of the lane, the color, the object information adjacent to the lane, and the like.

Since the reference lane information is applied to all the roads belonging to the same kind, it may include attributes required for lanes on roads classified into the same kind.

For example, the reference lane information may include the attributes of the highest lane 0 lane and the lowest lane N lane, which may follow Table 1.

In accordance with Table 1, the reference lane information includes the first reference lane information indicating that the highest lane zero lane of the public road in the expressway is a solid line, yellow, and that there is a guard rail adjacent to the highway lane, Second reference lane information indicating that the lane is yellow and that there is a guard rail adjacent thereto, third reference lane information indicating that the guard rail exists adjacent to the highest lane 0 of the tunnel / underground road in the highway, A fourth reference lane information indicating that the highest lane zero lane of the area is yellow and that there is a guard rail adjacent thereto, a fifth reference lane information indicating that the highest lane zero lane of the confluence point region of the highway is yellow, Lane information, a sixth reference lane information indicating that the lowest lane N lane of the public road in the expressway is a solid line, a bridge / highway in the expressway The seventh reference lane information indicating that the lowest lane N lane of the road is a solid line, the eighth reference lane information indicating that the lowest lane N lane of the tunnel / underground roadway in the highway is a solid line, and the lowest lane N lane of the inter- The ninth reference lane information indicating that a speed limit sign is present adjacent to the lane marking area, and the tenth reference lane information indicating that the lowest lane N lane of the confluence point area of the expressway is a solid line.

However, since the above-described Table 1 is only one embodiment of the reference lane information, the reference lane information may include some or some of the first to tenth reference lane information.

For example, the reference lane information includes eleventh reference lane information indicating that the N-1 lane adjacent to the lowest lane N lane of the highway road is a double lane, the N-1 lane adjacent to the lowermost lane N lane of the confluence point area of the highway And the twelfth reference lane information indicating the lane selection. In Table 1, only the information on the uppermost lane and the lowest lane of the road is mentioned, but the information on the other lanes may include the reference lane information. For example, a lane other than the highest lane of the highway may have a vehicle adjacent to the left, and a lane other than the lowermost lane of the highway may have a vehicle adjacent to the right.

The storage unit 500 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory), a RAM (Random Access Memory), SRAM (Static Random Access Memory), ROM (Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM May be implemented via a storage medium of at least one type of disk, optical disk

Referring again to FIG. 3, a GPS (Global Positioning System) antenna 135 may receive a satellite signal propagating from a satellite and provide it to the controller 300. At this time, the satellite signal received by the GPS antenna 135 may include position information of the vehicle.

Upon receiving the satellite signal, the control unit 300 may match the current position of the vehicle on the map stored in the storage unit 500 in advance. Since the satellite signal received through the GPS antenna 135 may include the current coordinates of the vehicle, the controller 300 may match the position corresponding to the current coordinates of the vehicle on the map.

By matching the present position of the vehicle on the map, the control unit 300 can confirm the road in which the vehicle is currently traveling. As described above, since the previously stored map includes the type of road and the number of lane numbers, the control unit 300 can confirm the type of the road in operation and the lane number information.

The peripheral information obtaining unit 200 can obtain peripheral information of the vehicle. Here, the peripheral information may include all the surrounding information such as the front and the side available for determining the lane of the vehicle.

To this end, the peripheral information acquiring unit 200 includes a camera 210 for acquiring an image of the front of the vehicle; And a radar (220) for sensing an object located on the side of the vehicle; . ≪ / RTI >

The camera 210 is installed on the front surface of the vehicle and can capture a forward image of the vehicle. To this end, the camera 210 may include an image sensor, and the image sensor may be implemented with a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor).

The radar 220 is installed on a side surface of the vehicle and can detect an object adjacent to the side of the vehicle. The radar 220 can emit a pulse laterally and receive an echo pulse reflected from a side object. The received echo pulse may include not only the presence of the side object but also information on the distance to the side object and the shape of the side object.

The control unit 300 can determine the driving lane by comparing the reference lane information corresponding to the type of the road with the measurement lane information measured through the peripheral information.

To this end, the control unit 300 can first check the reference lane information corresponding to the type of the running road which is confirmed through the satellite signal received by the GPS antenna 135. [ As described above, the storage unit 500 stores the reference lane information in advance, and the stored reference lane information can be classified and stored according to the type of the road. Therefore, the control unit 300 can retrieve the reference lane guidance corresponding to the type of road being driven from the storage unit 500. [

Also, the control unit 300 may measure the lane information from the peripheral information obtained through the peripheral information obtaining unit 200. [ For example, when the forward image is acquired by the camera 210, the control unit 300 can extract the lane on the forward road from the forward image. The control unit 300 can obtain the measurement lane information by confirming the attributes of the extracted lane.

As another example, when the side object is identified by the radar 220, the control unit 300 can confirm information such as the distance from the side object and the shape of the side object from the echo pulse. As a result, the control unit 300 can obtain the measurement lane information.

For example, when an object on one side of the vehicle is identified by the radar 220, the echo pulse may include information on the distance from one side of the vehicle to the object. Further, the echo pulse may have a pattern corresponding to the shape of the object. Therefore, the control unit 300 can acquire the measurement lane information that a specific object exists adjacent to the specific lane on the basis of the predetermined lane-to-lane distance.

After obtaining the reference lane information and the measurement lane information, the control unit 300 can determine the driving lane by comparing them. Hereinafter, the operation of the control unit 300 for determining the driving lane will be described in detail.

5 is a diagram for explaining a process of determining a driving lane by the controller according to an embodiment. In Fig. 5, a general road is exemplified as a highway including a zero-lane to four-lane line and divided into first to fourth roads by these lanes. In FIG. 5, the sector region may mean a range of the front image obtained by the front camera 210 of the vehicle.

As described above, the control unit 300 can extract the lane from the forward image. In the case of FIG. 5, the controller 300 can extract L0, L1 lanes on the left side and R0 and R1 lanes on the right side in the order of neighboring the vehicle. By thus extracting the lane, the control unit 300 can obtain the measurement lane information for the lanes L0, L1, R0, and R1. The measured lane information obtained by the controller 300 in FIG.

Lane L1 L0 R0 R1 Kinds Solid line dotted line dotted line Not recognized color Not recognized White White Not recognized

Meanwhile, since the measurement lane information is obtained by processing the peripheral information obtained by the peripheral information obtaining unit 200, the accuracy may vary depending on the performance of the peripheral information obtaining unit 200 and the position of the vehicle. The accuracy can be predetermined in manufacturing the device, and the value can be stored in the storage unit 500 in advance. The accuracy of the measurement lane information acquired by the control unit 300 in FIG.

Lane L1 L0 R0 R1 Kinds 0.5 One One 0.5 color 0.25 0.5 0.5 0.25

The control unit 300 can determine the driving lane by comparing the obtained measurement lane information with previously stored reference lane information. Specifically, the control unit 300 can calculate the probability that each of the lanes will be a driving lane.

To this end, the control unit 300 may compute the matching point of each lane by comparing the measurement lane information with the reference lane information. That is, if the measurement lane information matches the reference lane information, the control unit 300 may assign a predetermined point to the lane, and if the measurement lane information and the reference lane information do not match, the controller 300 may calculate a matching point by assigning 0 to the remaining lane. At this time, the control unit 300 can use the accuracy of each lane of the previously stored measurement lane information as a weight.

Tables 4 to 6 illustrate a method of assigning points according to conditions.

Condition Point Type of road L0 = yellow Line1 = + a On the highway
General road, bridge / overpass, fork area, confluence area L0 ≠ yellow Line2 ~ N = + b L1 = yellow Line2 = + a L1 ≠ yellow Line1,3 ~ N = + b

Condition Point Type of road L0 = solid line Line1 = + a On the highway
General road L0 ≠ solid line Line2 ~ N = + b R0 = solid line LineN = + a R0 ≠ solid line Line1 to (N-1) = + b L1 = solid line Line2 = + a L1 ≠ solid line Line1,3 ~ N = + b R1 = solid line LineN-1 = + a R1 ≠ solid line Line 1 to (N-2), N = + b

Condition Point Type of road L0 = LineN_main + 1 = + a On the highway
General roads, bridges / overpasses, tunnels / underpasses, junctions, junctions R0 = LineN_main = + a

In Tables 4 to 6, the benefit a is larger than the benefit b, N is the total lane length of the road, and N_main may mean the total lane length of the main road after the bifurcation point.

5 exemplifies a general road among the expressways, the control unit 300 may assign a benefit according to Tables 4 to 6. [

In accordance with Table 4, the lane L0 is not yellow, and the lane L1 is yellow, so that the control unit 300 can assign a point b to the second to fourth roads and give a point a to the second roads. Further, since the color accuracy of the lane L0 is 0.5, the control unit 300 can multiply the point b given to the second through fourth roads by 0.5. In the same manner, since the color accuracy of the lane L1 is 0.25, the control unit 300 can multiply the point a given to the second lane by 0.25.

In accordance with Table 5, since the lane L0 is not a solid line, the lane L1 is a solid line, the lane R0 is not a solid line, and the lane R1 is not a solid line, A point a can be assigned to the second lane, a point b can be assigned to the first lane and the third and fourth lanes, and a point b can be given to the first, second, and fourth lanes. In consideration of the accuracy of the type of the lane in the measurement lane information, the control unit 300 multiplies the point b given to the second through fourth lanes by an accuracy of 1, multiplies the point a given to the second lane by an accuracy of 0.5, The point b given to lanes 3 and 4 can be multiplied by accuracy 1 and the point b given to lanes 1 and 2 and 4 can be multiplied by an accuracy of 0.5.

In accordance with Table 6, since the lanes L0, L1, R0, and R1 are not all-in-one, the control unit 300 does not give any credit to any lane.

After assigning a point to each lane according to the above-described procedure, the control unit 300 can add all the points assigned for each lane to obtain a matching point. Assuming that a point a is 1 and a point b is 0.5, the matching points for each lane are as shown in Table 7. [

By car Primary Secondary Three lanes Four lanes Matching point 0.75 2.50 1.50 1.25

Referring to Table 7, it can be seen that the second-order matching point is the highest. Therefore, the control unit 300 can determine the secondary road as the driving lane.

FIG. 5 illustrates a case in which the measurement lane information is acquired through the forward image acquired by the camera 210 and the driving lane is determined using the measured lane information. Alternatively, the existence of an adjacent object may be confirmed by the radar 220, and the driving lane may be determined using the measurement lane information obtained from the adjacent object.

It is also possible to determine whether an object such as a guard rail, a speed limit sign, or an adjacent vehicle is located within a predetermined distance, and calculate a matching point.

The control unit 300 may be implemented as hardware such as a microprocessor, or may be implemented as software such as a program driven by hardware. In addition, when the control unit 300 is implemented in hardware, it may be implemented as a single hardware or a combination of a plurality of hardware.

If the driving lane is determined by the control unit 300, the display 134 can display the determined lane.

6A and 6B show a display method of a display according to various embodiments.

As described above, the control unit 300 can map the current position of the vehicle on the map, and the display 134 can display the mapped current position to visually inform the driver. At the same time, the display 134 displays the driving lane of the determined vehicle together, thereby providing the driver with various driving information.

The display 134 according to one embodiment may display the current position of the vehicle on the actual driving lane on the displayed map. In the case of FIG. 6A, the display 134 directly indicates on the map that the vehicle is currently traveling in the second lane.

The display 134 according to another embodiment may display a driving lane as a character. In the case of FIG. 6B, the display 134 indicates that the current driving lane is the second lane in the upper right corner.

On the other hand, the control unit 300 can determine the driving lane for each predetermined period. That is, the control unit 300 can determine the driving lane by performing the above-described method every predetermined period.

On the other hand, the control unit 300 determines the first driving lane by comparing the reference lane information and the measured lane information at the first point of time, and then determines whether or not to change the vehicle based on the running information of the vehicle for one period from the first point of time , It is possible to determine the second driving lane according to whether the vehicle has changed at a second time point after one cycle from the first time point.

For this purpose, the sensor unit 400 can be installed in the vehicle and can measure the traveling information of the vehicle. Here, the running information of the vehicle may include a direction, an attitude, a vehicle speed, and the like. For this, the sensor unit 400 may include a geomagnetic sensor, a gyro sensor, a vehicle speed sensor, and the like.

The control unit 300 can determine whether or not the vehicle has changed the lane on the basis of the measured travel information and the direction thereof. If the car is changed, the control unit 300 can calculate the changed lane based on the lane determined at the previous point of time and determine the lane of the current time. Alternatively, if the car is not changed, the control unit 300 may determine the driving lane determined at the previous time as the driving lane at the current point in time.

For example, if it is ascertained that the change is made to the left by one time during one period after the first time point, the control unit 300 can determine the second driving lane as the upper lane by one lighter than the first lane at the second time . Alternatively, if it is determined that there has been no change in the vehicle during one period after the first time point, the control unit 300 may determine that the second driving lane is the same as the first driving lane at the second time point.

When the above-described method is referred to as track tracking, the control unit 300 may count the number of times track tracking is performed. Since tracking by car is based on the results of the previous point of view, there is a risk that errors will accumulate as the number of counts increases. Therefore, if the counting number exceeds the predetermined number, the control unit 300 can again determine the driving lane by comparing the reference lane information with the measurement lane information.

7 is a flowchart of a vehicle control method according to an embodiment.

(700) Specifically, the control unit 300 of the vehicle matches the received satellite signal on a previously stored map, and confirms the type of the road on which the vehicle is traveling and its type .

Then, the vehicle can acquire the reference lane information corresponding to the type of the road identified. (710) Here, the reference lane information may mean the property of a lane required for each kind of road. The reference lane information may be stored in the storage unit 500 in advance.

At the same time, the vehicle may acquire peripheral information (720). Here, the peripheral information may include all the surrounding information such as front and side available for determining the lane of the vehicle. For this purpose, the vehicle may acquire a forward image using the camera 210, or may detect an object on the side using the radar 220. [

After acquiring the surrounding information, the vehicle can acquire the measurement lane information through the obtained information. (730) When the front image is acquired as the peripheral information, the vehicle can extract the lane information on the front road surface from the front image. Further, in the case where an object on the side is detected as the peripheral information, the vehicle can obtain the measurement lane information determined by the shape of the side object and the distance to the side object.

After obtaining the reference lane information and the measurement lane information, the vehicle can determine the driving lane by comparing them. (740) For this purpose, the vehicle can calculate the probability of the lane for each lane, Points can be calculated. The matching point is a method of assigning a point to a specific lane when the reference lane information and the measurement lane information coincide with each other, and the control unit 300 can determine the lane with the highest matching point as the lane.

8 is a flowchart of a vehicle control method according to another embodiment.

First, the vehicle can determine the first driving lane by comparing the reference lane information and the measurement lane information at the first point of time. (800) Here, the method for determining the first driving lane is the same as that described in Fig.

Then, the vehicle can acquire the running information of the vehicle for one period from the first time point. (810) Here, the running information of the vehicle may include a direction, an attitude, a vehicle speed, and the like.

Finally, the vehicle can determine the second driving lane at a second point in time after one cycle from the first point of view based on the acquired driving information. (820) Specifically, To determine if there has been a change in the lane for a period of time. According to the determination result, the vehicle can calculate the changed lane from the first lane to determine the second lane at the second time point.

100: vehicle
134: Display
135: GPS antenna
200: peripheral information obtaining unit
210: camera
220: Radar
300:
400:
500:

Claims (20)

A storage unit for storing a map including a road type;
A peripheral information acquiring unit acquiring peripheral information; And
A control unit for comparing the reference lane information corresponding to the type of the traveling road identified through the map with the measurement lane information measured through the peripheral information to determine a driving lane; Lt; / RTI >
Wherein the map stored in the storage unit comprises:
Without lane information for each road,
Wherein,
And compares the measurement lane information with the highest lane attribute and the lowest lane attribute according to the type of the running road among the reference lane information to determine the driving lane. The method according to claim 1,
Wherein,
And determining the kind of the running road which is determined according to at least one of usage, form, and scale. The method according to claim 1,
Wherein,
The traveling road is classified into a non-highway, an ordinary road in a highway, a bridge in an expressway, an overpass in an expressway, a tunnel in an expressway, an underground road in an expressway, a branch point area within a predetermined distance from a turning point in a freeway, And a confluence point area. The method according to claim 1,
Wherein,
And compares the reference lane information with the measurement lane information to obtain a probability of the lane for each lane constituting the road. 5. The method of claim 4,
Wherein,
And obtains the probability of the driving lane for each lane with reference to the accuracy of each lane of the measured lane information. The method according to claim 1,
Wherein,
From the peripheral information, the measurement lane information including at least one of the type of the lane on the road, the color, the distance to the side object, and the shape of the side object. The method according to claim 1,
Wherein,
And compares the reference lane information including at least one of the highest lane information and the lowest lane information corresponding to the type of the running road with measurement lane information measured through the peripheral information to determine the lane of travel. The method according to claim 1,
Wherein,
And determines the driving lane for each predetermined period. 9. The method of claim 8,
Wherein,
Determining a first driving lane by comparing the reference lane information and the measurement lane information at a first point of time and determining whether or not to change the vehicle based on the running information of the vehicle for one period from the first point of view; And determines a second driving lane on the basis of whether or not to change to the determined lane at a second time point after the one cycle from the time point. The method according to claim 1,
A display for indicating the determined driving lane; . ≪ / RTI > Confirming the type of a road during driving using a pre-stored map including types of roads;
Obtaining reference lane information corresponding to the identified road type;
Acquiring peripheral information;
Obtaining measurement lane information measured through the peripheral information; And
Comparing the reference lane information and the measurement lane information to determine a driving lane; Lt; / RTI >
Wherein the pre-
Without lane information for each road,
The step of determining the driving lane comprises:
And determining the driving lane by comparing the measured lane information with the highest lane attribute and the lowest lane attribute according to the type of the running road among the reference lane information. 12. The method of claim 11,
The step of confirming the type of the road during the running includes:
Wherein the type of the road is determined according to at least one of usage, shape, and scale. 12. The method of claim 11,
The step of confirming the type of the road during the running includes:
The type of the road is classified into a non-highway, an ordinary road in a highway, a bridge in an expressway, an overpass in a highway, a tunnel in an underway in an expressway, an underground road in a highway, a bifurcation area within a predetermined distance from a bifurcation point in a highway, Area of the vehicle. 12. The method of claim 11,
The step of determining the driving lane comprises:
A control method of a vehicle that compares the reference lane information and the measurement lane information to obtain a probability of the lane on each lane constituting the road 15. The method of claim 14,
The step of determining the driving lane comprises:
And acquiring the probability of the driving lane for each lane with reference to the accuracy of each lane of the measured lane information. 12. The method of claim 11,
The step of acquiring the measurement lane information includes:
From the peripheral information, the measurement lane information including at least one of the type of the lane on the road, the color, the distance from the side object, and the shape of the side object. 12. The method of claim 11,
Wherein the step of acquiring the reference lane information comprises:
Wherein the reference lane information includes at least one of the highest lane information and the lowest lane information corresponding to the type of the road. 12. The method of claim 11,
The step of determining the driving lane comprises:
And comparing the reference lane information and the measurement lane information at a first time point to determine a first driving lane. 19. The method of claim 18,
Determining whether to change the vehicle based on the traveling information of the vehicle for a predetermined period from the first time point; And
Determining a second driving lane on the basis of whether or not to change to the determined lane at a second time point after the one cycle from the first time point; Further comprising the steps of: 12. The method of claim 11,
Displaying the determined driving lane; Further comprising the steps of:

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